双四元数を用いたケーブル吊り下げ荷物搭載UAVの制御
Dual Quaternion Control of UAVs with Cable-suspended Load
双四元数を用いてUAVと吊り下げ荷物の運動学・動力学を統一的に表現し、荷物の吊り上げと軌道追従を実現する新しい制御戦略を提案した。
著者: Yuxia Yuan, Markus Ryll
分類: cs.RO
原文アブストラクト
Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended loads, focusing on the sling load lifting and tracking problems. By utilizing the mathematical efficiency and compactness of dual quaternions, a unified representation of the UAV and its suspended load's dynamics and kinematics is achieved, facilitating the realization of load lifting and trajectory tracking. The simulation results have tested the proposed strategy's accuracy, efficiency, and robustness. This study makes a substantial contribution to present this novel control strategy that harnesses the benefits of dual quaternions for cargo UAVs. Our work also holds promise for inspiring future innovations in under-actuated systems control using dual quaternions.
